Synchronous PD Control Using a Time Delay Estimator for a Four-Degree-of-Freedom Parallel Robot in Practice

This paper presents a synchronous proportional derivative (PD) control method using time delay estimator (SPD-TDE) for four-degree-of-freedom (DOF) parallel robot in practice. The proposed is that developed from PD combined with to guarantee the tracking objectives and requirements of robot. Firstly, designed by defining cross-coupling errors. A error determined incorporating deviation among two adjacent joints or Then, asynchronous problem between kinematic chains solved guarantees goal synchronicity achieved. Consequently, improve performance robot, used estimate eliminate uncertainty components system, such as modeling errors actuator faults. In addition, Lyapunov theory also demonstrate stability robustness method. Finally, testbench 4-DOF built, controllers are embedded board MATLAB Simulink Waijung block set library operate preset trajectory tracking. experimental results compared those obtained other prove its effectiveness.